remove redundant (and now incorrect) comment describing the recalculate procedure

diff --git a/src/modules/robot/Planner.cpp b/src/modules/robot/Planner.cpp
index af7fc80..c1e7048 100644 (file)
--- a/src/modules/robot/Planner.cpp
+++ b/src/modules/robot/Planner.cpp
@@ -157,24 +157,6 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc
     THEKERNEL->conveyor->queue_head_block();
 }
 
-
-// Recalculates the motion plan according to the following algorithm:
-//
-// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
-// so that:
-//   a. The junction jerk is within the set limit
-//   b. No speed reduction within one block requires faster deceleration than the one, true constant
-//      acceleration.
-// 2. Go over every block in chronological order and dial down junction speed reduction values if
-//   a. The speed increase within one block would require faster accelleration than the one, true
-//      constant acceleration.
-//
-// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
-// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
-// the set limit. Finally it will:
-//
-// 3. Recalculate trapezoids for all blocks.
-//
 void Planner::recalculate() {
     Conveyor::Queue_t &queue = THEKERNEL->conveyor->queue;